EP3770636A4 - Radar data compensation method for mobile robot, device, and storage medium - Google Patents

Radar data compensation method for mobile robot, device, and storage medium Download PDF

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Publication number
EP3770636A4
EP3770636A4 EP19787948.9A EP19787948A EP3770636A4 EP 3770636 A4 EP3770636 A4 EP 3770636A4 EP 19787948 A EP19787948 A EP 19787948A EP 3770636 A4 EP3770636 A4 EP 3770636A4
Authority
EP
European Patent Office
Prior art keywords
storage medium
mobile robot
compensation method
radar data
data compensation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19787948.9A
Other languages
German (de)
French (fr)
Other versions
EP3770636A1 (en
Inventor
Xingzhi WANG
Huang Ding
Lilei Wang
Zhuobin ZHENG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Coayu Robot Co Ltd
Original Assignee
Guangzhou Coayu Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Coayu Robot Co Ltd filed Critical Guangzhou Coayu Robot Co Ltd
Publication of EP3770636A1 publication Critical patent/EP3770636A1/en
Publication of EP3770636A4 publication Critical patent/EP3770636A4/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • G01S13/524—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
    • G01S13/5242—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi with means for platform motion or scan motion compensation, e.g. airborne MTI
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Optics & Photonics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP19787948.9A 2018-04-18 2019-03-05 Radar data compensation method for mobile robot, device, and storage medium Pending EP3770636A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810346872.1A CN108957466B (en) 2018-04-18 2018-04-18 Radar data compensation method, device, equipment and storage medium for mobile robot
PCT/CN2019/077020 WO2019201022A1 (en) 2018-04-18 2019-03-05 Radar data compensation method for mobile robot, device, and storage medium

Publications (2)

Publication Number Publication Date
EP3770636A1 EP3770636A1 (en) 2021-01-27
EP3770636A4 true EP3770636A4 (en) 2022-05-04

Family

ID=64498737

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19787948.9A Pending EP3770636A4 (en) 2018-04-18 2019-03-05 Radar data compensation method for mobile robot, device, and storage medium

Country Status (4)

Country Link
US (1) US20210165077A1 (en)
EP (1) EP3770636A4 (en)
CN (1) CN108957466B (en)
WO (1) WO2019201022A1 (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108957466B (en) * 2018-04-18 2022-01-25 广东宝乐机器人股份有限公司 Radar data compensation method, device, equipment and storage medium for mobile robot
CN108680185B (en) * 2018-04-26 2020-09-22 广东宝乐机器人股份有限公司 Mobile robot gyroscope data correction method, device and equipment
EP3901573A4 (en) * 2018-12-17 2022-07-06 Chiba Institute of Technology Information processing device and mobile robot
CN112214009B (en) * 2019-06-25 2022-07-26 上海商汤临港智能科技有限公司 Sensor data processing method and device, electronic equipment and system
WO2021016936A1 (en) * 2019-07-31 2021-02-04 深圳市大疆创新科技有限公司 Data correction method, mobile platform, and non-volatile computer-readable storage medium
CN112947396A (en) * 2019-11-25 2021-06-11 苏州科瓴精密机械科技有限公司 Method for compensating included angle error of reflective beacon, automatic walking equipment and storage medium
CN113739828B (en) * 2020-05-29 2023-06-16 上海禾赛科技有限公司 Method, circuit, device and medium for measuring angle of code wheel of photoelectric encoder
CN111829515A (en) * 2020-07-09 2020-10-27 新石器慧通（北京）科技有限公司 Time synchronization method, device, vehicle and storage medium
CN112731450B (en) * 2020-08-19 2023-06-30 深圳市速腾聚创科技有限公司 Point cloud motion compensation method, device and system
CN112083400A (en) * 2020-08-21 2020-12-15 达闼机器人有限公司 Calibration method, device and storage medium for moving object and sensor thereof
CN112819861B (en) * 2021-02-26 2024-06-04 广州小马慧行科技有限公司 Point cloud motion compensation method, device and computer readable storage medium
CN114513752B (en) * 2021-12-30 2024-02-27 山东信通电子股份有限公司 Mobile terminal positioning control method, mobile terminal positioning control equipment and mobile terminal positioning control medium

Citations (1)

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CA3006421A1 (en) * 2015-12-14 2017-06-22 Mitsubishi Electric Corporation Synthetic aperture radar

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CN100487481C (en) * 2007-05-25 2009-05-13 北京航空航天大学 Position attitude system hardware time synchronizing method
CN103323840B (en) * 2012-03-22 2015-02-11 中国科学院电子学研究所 Method for time alignment between interference SAR echo data and platform motion and gesture data
CN103777201A (en) * 2012-10-19 2014-05-07 中国航天科工集团第二研究院二〇七所 Airborne SAR motion compensation method based on GPS data
CN103823209B (en) * 2014-02-13 2016-04-13 中国科学院电子学研究所 For low cost kinematic error measurement mechanism in small-sized polarization sensitive synthetic aperture radar system
JP6365251B2 (en) * 2014-02-28 2018-08-01 パナソニック株式会社 Radar equipment
US10518407B2 (en) * 2015-01-06 2019-12-31 Discovery Robotics Apparatus and methods for providing a reconfigurable robotic platform
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Also Published As

Publication number Publication date
WO2019201022A1 (en) 2019-10-24
EP3770636A1 (en) 2021-01-27
US20210165077A1 (en) 2021-06-03
CN108957466A (en) 2018-12-07
CN108957466B (en) 2022-01-25

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